Keeping our paws on the floor/ground

I can train my dog to do almost anything EXCEPT not jump on people. I hate it and it’s especially embarrassing when she tries to jump on elderly people and small children. She’s never hurt anyone and clearly wants to play. But I don’t play with her like that and I don’t know how to break her of the habit of jumping on me when I come home. I’ve tried turning my back, swatting her paws while giving a command to sit, and even blocking her attempts with my elbows or knees or by stepping backwards. What’s working for you guys??